Simulation of a Self-Balancing Platform on the Mobile Car
In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, industry. This paper introduced the simulated model of a proposed self-balancing platform that described the self–balancing attitude...
Guardado en:
| Autores principales: | , , |
|---|---|
| Formato: | article |
| Lenguaje: | EN |
| Publicado: |
Al-Khwarizmi College of Engineering – University of Baghdad
2021
|
| Materias: | |
| Acceso en línea: | https://doaj.org/article/7d725ed93c4640ec80d788e4f570c5e1 |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| Sumario: |
In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, industry. This paper introduced the simulated model of a proposed self-balancing platform that described the self–balancing attitude in (X-axis, Y-axis, or both axis) under the influence of road disturbance. To simulate the self-balanced platform's performance during the tilt, an integration between Solidworks, Simscape, and Simulink toolboxes in MATLAB was used. The platform's dynamic model was drawn in SolidWorks and exported as a STEP file used in the Simscape Multibody environment. The system is controlled using the proportional-integral-derivative (PID) controller to maintain the platform leveled and compensate for any road disturbances. Several road disturbances scenarios were designed in the x-axis, y-axis, or both axis (the pitch and roll angles) to examine the controller effectiveness. The simulation results indicate that that the platform completed self-balancing under the effect of disturbance (10° and -10°) on the X-axis, Y-axis, and both axes in less than two milliseconds. Therefore, a proposed self-balancing platform's simulated model has a high self-balancing accuracy and meets operational requirements despite its simple design.
|
|---|